Initial commit of python-mujoco-py PKGBUILD

4 files changed, 208 insertions, 0 deletions

diff --git a/.SRCINFO b/.SRCINFO
new file mode 100644
index 000000000000..a8a391f22a42
--- /dev/null
+++ b/.SRCINFO
@@ -0,0 +1,30 @@
+pkgbase = python-mujoco-py
+	pkgdesc = Python interface to the MuJoCo physics engine
+	pkgver = 2.0.2.9
+	pkgrel = 1
+	url = https://github.com/openai/mujoco-py
+	arch = x86_64
+	license = MIT
+	license = custom
+	makedepends = python-setuptools
+	depends = cython
+	depends = glew
+	depends = libglvnd
+	depends = mesa-libgl
+	depends = mujoco
+	depends = python
+	depends = python-cffi
+	depends = python-fasteners
+	depends = python-glfw
+	depends = python-imageio
+	depends = python-numpy
+	options = !strip
+	source = https://files.pythonhosted.org/packages/source/m/mujoco-py/mujoco-py-2.0.2.9.tar.gz
+	source = mujoco-py-2.0.2.9-LICENSE.md::https://raw.githubusercontent.com/openai/mujoco-py/d73ce6e91d096b74da2a2fcb0a4164e10db5f641/LICENSE.md
+	source = mujoco-py-2.0.2.9.patch
+	sha256sums = 6ae20ca9509203758f5e30a7a4019cb2d581b6d40dc2c2669dbe3229cfdf05e8
+	sha256sums = fb896a8cbad505b0fe1f324e7d4f02032e56885c6544b7644180258d6077a71a
+	sha256sums = 5ac81282141cf7c5700b9967f85c4e9a3339a35a1bbdd3c383b877774525d660
+
+pkgname = python-mujoco-py
+
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 000000000000..5d5bf80c0f73
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+src/
+pkg/
+*.tar.gz
+*.tar.xz
+mujoco-py-*-LICENSE.md
diff --git a/PKGBUILD b/PKGBUILD
new file mode 100644
index 000000000000..ea9280bbca18
--- /dev/null
+++ b/PKGBUILD
@@ -0,0 +1,54 @@
+# Maintainer: Eric Langlois <eric@langlois.xyz>
+pkgname=python-mujoco-py
+_name=${pkgname#python-}
+pkgver=2.0.2.9
+pkgrel=1
+pkgdesc="Python interface to the MuJoCo physics engine"
+arch=('x86_64')
+url="https://github.com/openai/mujoco-py"
+license=('MIT' 'custom')
+depends=(
+	'cython'
+	'glew'
+	'libgl'
+	'mesa'
+	'mujoco'
+	'python'
+	'python-cffi'
+	'python-fasteners'
+	'python-glfw'
+	'python-imageio'
+	'python-numpy'
+)
+makedepends=('python-setuptools')
+optdepends=()
+# Stripping breaks the generated cymj_*.so file
+options=(!strip)
+# There is no license file included in the pip package
+# Get it from the mujoco-py github repo instead.
+# Also, there is no release marked for the recent pip package version,
+# so use the lastest commit (at the time of writing).
+source=("https://files.pythonhosted.org/packages/source/${_name::1}/$_name/$_name-$pkgver.tar.gz"
+        "$_name-$pkgver-LICENSE.md::https://raw.githubusercontent.com/openai/mujoco-py/d73ce6e91d096b74da2a2fcb0a4164e10db5f641/LICENSE.md"
+        "$_name-$pkgver.patch")
+sha256sums=('6ae20ca9509203758f5e30a7a4019cb2d581b6d40dc2c2669dbe3229cfdf05e8'
+            'fb896a8cbad505b0fe1f324e7d4f02032e56885c6544b7644180258d6077a71a'
+            '5ac81282141cf7c5700b9967f85c4e9a3339a35a1bbdd3c383b877774525d660')
+
+prepare() {
+	cd "$_name-$pkgver"
+	patch -p1 -i "$srcdir/$_name-$pkgver.patch"
+}
+
+build() {
+	cd "$_name-$pkgver"
+	python setup.py build
+}
+
+package() {
+	cd "$_name-$pkgver"
+	python setup.py install --root="$pkgdir" --optimize=1 --skip-build
+
+	install -Dm644 "$srcdir/$_name-$pkgver-LICENSE.md" \
+		"$pkgdir/usr/share/licenses/$pkgname/LICENSE.md"
+}
diff --git a/mujoco-py-2.0.2.9.patch b/mujoco-py-2.0.2.9.patch
new file mode 100644
index 000000000000..8fcbc136fb0b
--- /dev/null
+++ b/mujoco-py-2.0.2.9.patch
@@ -0,0 +1,119 @@
+diff --unified --recursive --text mujoco-py-2.0.2.9.orig/mujoco_py/builder.py mujoco-py-2.0.2.9.new/mujoco_py/builder.py
+--- mujoco-py-2.0.2.9.orig/mujoco_py/builder.py	2020-04-07 21:40:53.528385933 -0400
++++ mujoco-py-2.0.2.9.new/mujoco_py/builder.py	2020-04-07 21:39:20.261717094 -0400
+@@ -31,7 +31,7 @@
+     docker_path = '/usr/local/nvidia/lib64'
+     if exists(docker_path):
+         return docker_path
+-    paths = glob.glob('/usr/lib/nvidia-[0-9][0-9][0-9]')
++    paths = glob.glob('/usr/lib/nvidia')
+     paths = sorted(paths)
+     if len(paths) == 0:
+         return None
+@@ -66,9 +66,7 @@
+     if sys.platform == 'darwin':
+         Builder = MacExtensionBuilder
+     elif sys.platform == 'linux':
+-        _ensure_set_env_var("LD_LIBRARY_PATH", lib_path)
+         if os.getenv('MUJOCO_PY_FORCE_CPU') is None and get_nvidia_lib_dir() is not None:
+-            _ensure_set_env_var("LD_LIBRARY_PATH", get_nvidia_lib_dir())
+             Builder = LinuxGPUExtensionBuilder
+         else:
+             Builder = LinuxCPUExtensionBuilder
+@@ -84,6 +82,13 @@
+     builder = Builder(mujoco_path)
+     cext_so_path = builder.get_so_file_path()
+ 
++    # Check if we have write access to the cext_so_path.
++    # If not, it's probably because mujoco-py has been installed and everything is
++    # read-only. Returning here is necessary because the lock creation will fail.
++    # It might be better to try-catch the lock but this minimizes the diff complexity.
++    if not os.access(os.path.dirname(cext_so_path), os.W_OK):
++        return load_dynamic_ext('cymj', cext_so_path)
++
+     lockpath = os.path.join(os.path.dirname(cext_so_path), 'mujocopy-buildlock')
+ 
+     with fasteners.InterProcessLock(lockpath):
+@@ -205,11 +210,10 @@
+             sources=[join(self.CYMJ_DIR_PATH, "cymj.pyx")],
+             include_dirs=[
+                 self.CYMJ_DIR_PATH,
+-                join(mujoco_path, 'include'),
++                "/usr/include/mujoco",
+                 np.get_include(),
+             ],
+             libraries=['mujoco200'],
+-            library_dirs=[join(mujoco_path, 'bin')],
+             extra_compile_args=[
+                 '-fopenmp',  # needed for OpenMP
+                 '-w',  # suppress numpy compilation warnings
+@@ -266,14 +270,13 @@
+ 
+         self.extension.sources.append(
+             join(self.CYMJ_DIR_PATH, "gl", "osmesashim.c"))
+-        self.extension.libraries.extend(['glewosmesa', 'OSMesa', 'GL'])
+-        self.extension.runtime_library_dirs = [join(mujoco_path, 'bin')]
++        self.extension.libraries.extend(['GLEW', 'OSMesa', 'GL'])
+ 
+     def _build_impl(self):
+         so_file_path = super()._build_impl()
+         # Removes absolute paths to libraries. Allows for dynamic loading.
+         fix_shared_library(so_file_path, 'libmujoco200.so', 'libmujoco200.so')
+-        fix_shared_library(so_file_path, 'libglewosmesa.so', 'libglewosmesa.so')
++        fix_shared_library(so_file_path, 'libGLEW.so', 'libGLEW.so')
+         return so_file_path
+ 
+ 
+@@ -284,15 +287,14 @@
+ 
+         self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/eglshim.c")
+         self.extension.include_dirs.append(self.CYMJ_DIR_PATH + '/vendor/egl')
+-        self.extension.libraries.extend(['glewegl'])
+-        self.extension.runtime_library_dirs = [join(mujoco_path, 'bin')]
++        self.extension.libraries.extend(['GLEW'])
+ 
+     def _build_impl(self):
+         so_file_path = super()._build_impl()
+         fix_shared_library(so_file_path, 'libOpenGL.so', 'libOpenGL.so.0')
+         fix_shared_library(so_file_path, 'libEGL.so', 'libEGL.so.1')
+         fix_shared_library(so_file_path, 'libmujoco200.so', 'libmujoco200.so')
+-        fix_shared_library(so_file_path, 'libglewegl.so', 'libglewegl.so')
++        fix_shared_library(so_file_path, 'libGLEW.so', 'libGLEW.so')
+         return so_file_path
+ 
+ 
+@@ -476,8 +478,7 @@
+     source_string += '\nuintptr_t __fun = (uintptr_t) fun;'
+     # Link against mujoco so we can call mujoco functions from within callback
+     ffibuilder.set_source(name, source_string,
+-                          include_dirs=[join(mujoco_path, 'include')],
+-                          library_dirs=[join(mujoco_path, 'bin')],
++                          include_dirs=["/usr/include/mujoco"],
+                           libraries=['mujoco200'])
+     # Catch compilation exceptions so we can cleanup partial files in that case
+     try:
+diff --unified --recursive --text mujoco-py-2.0.2.9.orig/mujoco_py/utils.py mujoco-py-2.0.2.9.new/mujoco_py/utils.py
+--- mujoco-py-2.0.2.9.orig/mujoco_py/utils.py	2020-04-07 21:40:53.548385935 -0400
++++ mujoco-py-2.0.2.9.new/mujoco_py/utils.py	2020-04-06 22:17:43.277818305 -0400
+@@ -72,7 +72,6 @@
+ def discover_mujoco():
+     """
+     Discovers where MuJoCo is located in the file system.
+-    Currently assumes path is in ~/.mujoco
+ 
+     Returns:
+     - mujoco_path (str): Path to MuJoCo 2.0 directory.
+@@ -81,9 +80,13 @@
+     key_path = os.getenv('MUJOCO_PY_MJKEY_PATH')
+     if not key_path:
+         key_path = join(expanduser('~'), '.mujoco', 'mjkey.txt')
++        if not exists(key_path):
++            key_path = "/usr/share/licenses/mujoco/mjkey.txt"
+     mujoco_path = os.getenv('MUJOCO_PY_MUJOCO_PATH')
+     if not mujoco_path:
+         mujoco_path = join(expanduser('~'), '.mujoco', 'mujoco200')
++        if not exists(mujoco_path):
++            mujoco_path = "/opt/mujoco/mujoco200"
+ 
+     # We get lots of github issues that seem to be missing these
+     # so check that mujoco is really there and raise errors if not.